Method and system for detection of a zero velocity state of an object

It is provided a method for determining whether a velocity of an object is below a predetermined threshold value, the method comprising: measuring a plurality of accelerations (337) of the object within a time interval (m*dt) from a point in time (t) to a later point in time (t + m*dt); deriving information indicative of a plurality of velocities (341) of the object within the time interval based on the measured accelerations; and determining whether the velocity is below the predetermined threshold value at the point in time by applying a criterion (C*) based on the derived information indicative of the plurality of the velocities. Also a system for carrying out the method is provided as well as a method and a system for determining a coordinate of an object.